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Add Octomap Geometry Type #56

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Add Octomap Geometry Type #56

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20 changes: 19 additions & 1 deletion urdf_model/include/urdf_model/link.h
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Original file line number Diff line number Diff line change
Expand Up @@ -50,7 +50,7 @@ namespace urdf{
class Geometry
{
public:
enum {SPHERE, BOX, CYLINDER, MESH} type;
enum {SPHERE, BOX, CYLINDER, MESH, OCTOMAP} type;

virtual ~Geometry(void)
{
Expand Down Expand Up @@ -112,6 +112,24 @@ class Mesh : public Geometry
};
};

class Octomap : public Geometry
{
public:
Octomap() { this->clear(); type = OCTOMAP; };
std::string filename;
Vector3 scale;
enum {BOX, INSIDE_SPHERE, OUTSIDE_SPHERE} octomap_type = BOX;

void clear()
{
filename.clear();
// default scale
scale.x = 1;
scale.y = 1;
scale.z = 1;
};
};

class Material
{
public:
Expand Down